mirror of https://github.com/ArduPilot/ardupilot
6.6 KiB
6.6 KiB
ArduPilot ROS 2 packages
This directory contains ROS 2 packages and configuration files for running ROS 2 processes and nodes that communicate with the ArduPilot DDS client library using the microROS agent. It contains the following packages:
ardupilot_sitl
A colcon package for building and running ArduPilot SITL using the ROS 2 CLI.
For example ardurover SITL may be launched with:
ros2 launch ardupilot_sitl sitl.launch.py command:=ardurover model:=rover
ardupilot_dds_test
A colcon package for testing communication between micro_ros_agent and the
ArduPilot AP_DDS client library.
Prerequisites
The packages depend on:
Install Ubuntu
1. Create a workspace folder
mkdir -p ~/ros_ws/src && cd ~/ros_ws/src
The ROS 2 tutorials contain more details regarding ROS 2 workspaces.
2. Get the ros2.repos file
cd ~/ros2_ws/src
wget https://raw.githubusercontent.com/srmainwaring/ardupilot/pr/pr-dds-launch-tests/Tools/ros2/ros2.repos
vcs import --recursive < ros2.repos
3. Update dependencies
cd ~/ros_ws
source /opt/ros/humble/setup.bash
sudo apt update
rosdep update
rosdep install --rosdistro humble --from-paths src
4. Build
cd ~/ros_ws
colcon build --packages-select micro_ros_agent
colcon build --packages-select ardupilot_sitl
colcon build --packages-select ardupilot_dds_tests
5. Test
source ./install/setup.bash
colcon test --pytest-args -s -v --event-handlers console_cohesion+ --packages-select ardupilot_dds_tests
colcon test-result --all --verbose
Install macOS
The install procedure on macOS is similar, except that all dependencies must be built from source and additional compiler flags are needed.
1. Create a workspace folder
mkdir -p ~/ros_ws/src && cd ~/ros_ws/src
2. Get the ros2.repos file
The ros2_macos.repos includes additional dependencies to build:
cd ~/ros2_ws/src
wget https://raw.githubusercontent.com/srmainwaring/ardupilot/pr/pr-dds-launch-tests/Tools/ros2/ros2_macos.repos
vcs import --recursive < ros2_macos.repos
3. Update dependencies
cd ~/ros_ws
source /<path_to_your_ros_humble_workspace>/install/setup.zsh
4.1. Build microxrcedds_gen:
cd ~/ros2_ws/src/microxrcedds_gen
./gradlew assemble
export PATH=$PATH:$(pwd)/scripts
4.2. Build colcon projects
colcon build --symlink-install --cmake-args \
-DBUILD_TESTING=ON \
-DCMAKE_BUILD_TYPE=RelWithDebInfo \
-DCMAKE_MACOSX_RPATH=FALSE \
-DUAGENT_SOCKETCAN_PROFILE=OFF \
-DUAGENT_LOGGER_PROFILE=OFF \
-DUAGENT_USE_SYSTEM_LOGGER=OFF \
-DUAGENT_USE_SYSTEM_FASTDDS=ON \
-DUAGENT_USE_SYSTEM_FASTCDR=ON \
--event-handlers=desktop_notification- \
--packages-select \
micro_ros_msgs \
micro_ros_agent \
ardupilot_sitl \
ardupilot_dds_tests
5. Test
colcon test \
--pytest-args -s -v \
--event-handlers console_cohesion+ desktop_notification- \
--packages-select ardupilot_dds_tests
Install Docker
0. Build the image and run the container
Clone the ArduPilot docker project:
git clone https://github.com/ArduPilot/ardupilot_dev_docker.git
Build the container:
cd ~/ardupilot_dev_docker/docker
docker build -t ardupilot/ardupilot-dev-ros -f Dockerfile_dev-ros .
Start the container in interactive mode:
docker run -it --name ardupilot-dds ardupilot/ardupilot-dev-ros
Connect another bash process to the running container:
docker container exec -it ardupilot-dds /bin/bash
The remaining steps 1 - 5 are the same as for Ubuntu. You may need to install MAVProxy if it is not available on the container.
pip install -U MAVProxy
Test details
The launch file replicates the following commands:
socat -d -d pty,raw,echo=0,link=./dev/ttyROS0 pty,raw,echo=0,link=./dev/ttyROS1
ros2 run micro_ros_agent micro_ros_agent serial --baudrate 115200 --dev ./dev/ttyROS0 --refs $(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/dds_xrce_profile.xml
arducopter --synthetic-clock --wipe --model quad --speedup 1 --slave 0 --instance 0 --uartC uart:./dev/ttyROS1 --defaults $(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/copter.parm,$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/dds.parm --sim-address 127.0.0.1
mavproxy.py --out 127.0.0.1:14550 --out 127.0.0.1:14551 --master tcp:127.0.0.1:5760 --sitl 127.0.0.1:5501
Using individual launch files
ros2 launch ardupilot_sitl virtual_ports.launch.py tty0:=./dev/ttyROS0 tty1:=./dev/ttyROS1
ros2 launch ardupilot_sitl micro_ros_agent.launch.py refs:=$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/dds_xrce_profile.xml baudrate:=115200 device:=./dev/ttyROS0
ros2 launch ardupilot_sitl sitl.launch.py synthetic_clock:=True wipe:=True model:=quad speedup:=1 slave:=0 instance:=0 uartC:=uart:./dev/ttyROS1 defaults:=$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/copter.parm,$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/dds.parm sim_address:=127.0.0.1
ros2 launch ardupilot_sitl mavproxy.launch.py master:=tcp:127.0.0.1:5760 sitl:=127.0.0.1:5501
Using combined launch file
ros2 launch ardupilot_sitl sitl_dds.launch.py \
\
tty0:=./dev/ttyROS0 \
tty1:=./dev/ttyROS1 \
\
refs:=$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/dds_xrce_profile.xml \
baudrate:=115200 \
device:=./dev/ttyROS0 \
\
synthetic_clock:=True \
wipe:=True \
model:=quad \
speedup:=1 \
slave:=0 \
instance:=0 \
uartC:=uart:./dev/ttyROS1 \
defaults:=$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/copter.parm,$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/dds.parm \
sim_address:=127.0.0.1 \
\
master:=tcp:127.0.0.1:5760 \
sitl:=127.0.0.1:5501